JP2009012087A - Method for assembling assembly - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for assembling an assembly at a low cost and in a reduced space. <P>SOLUTION: In this method, the assembly 40 is provided with two parts 41 and 42 having insertion holes 411 and 421, respectively, and an axle 43 inserted into the insertion holes 411 and 421. This method comprises a procedures of: inserting a pin 24 into the insertion holes 411 and 421 of the two parts 41 and 42, assembling the two parts 41 and 42 and positioning the two assembled parts 41 and 42 in a prescribed position; arranging the axle 43 coaxially with the pin 24; advancing the axle 43 toward the pin 24 and making a distal end of the axle 43 abut on a distal end of the pin 24; and further advancing the axle 43, while maintaining an abutting state of the axle 43 and the pin 24, and inserting the axle 43 into the insertion holes 411 and 421. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an assembly method. Specifically, the present invention relates to a method for assembling an assembly including a plurality of parts each having an insertion hole and an axle inserted through the insertion hole.

Conventionally, a front wheel assembly of a motorcycle is composed of a pair of front forks, a stem, a wheel, a brake panel, an axle, and the like. Among these parts, an insertion hole is formed in the front fork, the stem, the wheel, and the brake panel.
The assembly of the front wheel portion is assembled in the following procedure using, for example, an assembling apparatus (see Patent Document 1).
That is, a brake panel is attached to the wheel, and a pair of front forks are arranged in parallel on the station by the transport robot, and the wheel to which the brake panel is attached is arranged between the front forks. Next, the wheel and brake panel insertion holes are positioned coaxially with the front fork insertion hole by the shaft centering mounting mechanism. Thereafter, the axle is inserted into these insertion holes and tightened by the component assembly mechanism.
Thereby, the wheel and the brake panel are rotatably attached to the front fork with the axle as a rotation shaft.
Japanese Patent Publication No. 7-4709

  However, the above assembling apparatus requires a lot of equipment such as a robot that transports parts, an axis alignment mounting mechanism that aligns the axis of the part insertion hole, and a part assembly mechanism that inserts the axle through the insertion hole. In addition, the equipment cost is high and a large space is required.

  It is an object of the present invention to provide an assembly method for assembling an assembly that can be assembled at low cost and space-saving.

  The assembly method of the present invention includes a plurality of parts (parts 41 and 42 described later) each having an insertion hole (insertion holes 411 and 421 described later), and a shaft part (an axle 43 described later) inserted through the insertion hole. Assembly method comprising: inserting pins (pins 24, collets 31, pieces 32, and pressure pins 35, which will be described later) into the insertion holes of the plurality of parts, and assembling the plurality of parts. And a procedure for positioning the assembled parts at a predetermined position, a procedure for arranging the shaft portion coaxially with the pin, advancing the shaft portion toward the pin, and a tip of the shaft portion. A procedure of abutting the tip of the pin, a procedure of further advancing the shaft portion while maintaining the state where the shaft portion and the pin are in contact, and inserting the shaft portion into the insertion hole, Equipped with The features.

According to the present invention, after positioning a plurality of parts at predetermined positions and arranging the shaft portion coaxially with the pin, the shaft portion is advanced toward the pin, and the tip of the shaft portion is brought into contact with the tip of the pin. The shaft portion was further advanced while maintaining the state where the shaft portion and the pin were in contact with each other, and the shaft portion was inserted into the insertion hole.
Therefore, by simply positioning a plurality of parts at a predetermined position and moving the shaft part, the shaft part moves on the same axis as the pin, so that the shaft part can be smoothly inserted into the part insertion hole. , Work efficiency can be improved.
In addition, since the structure is simple, the assembly cost can be reduced and the installation space for the assembly apparatus can be reduced.

  According to the present invention, after positioning a plurality of parts at predetermined positions and arranging the shaft portion coaxially with the pin, the shaft portion is moved toward the pin, and the tip of the shaft portion is brought into contact with the tip of the pin. The shaft portion was further moved while the shaft portion and the pin were in contact with each other, and the shaft portion was inserted into the insertion hole. Therefore, by simply positioning a plurality of parts at a predetermined position and moving the shaft part, the shaft part moves on the same axis as the pin, so that the shaft part can be smoothly inserted into the part insertion hole. , Work efficiency can be improved. In addition, since the structure is simple, the assembly cost can be reduced and the installation space for the assembly apparatus can be reduced.

Hereinafter, each embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is a diagram showing a schematic configuration of an assembling apparatus 1 to which an assembly method according to the first embodiment of the present invention is applied. FIG. 2 is a partially enlarged perspective view of the assembling apparatus 1.

  The assembling apparatus 1 inserts an axle 43 as a shaft portion into an assembly, and includes a table 10, a transfer robot 20 that transfers a work on the table 10, and an axle inserted in the work provided inside the table 10. And a control device 2 that controls the transfer robot 20 and the axle lifting mechanism 30.

The table 10 is provided with a rubber receiving member 11 on which a workpiece is placed.
The axle lifting mechanism 30 includes a chuck 31 that grips the axle 43 so that the central axis is substantially vertical, and a lifting mechanism 32 that lifts and lowers the chuck 31. According to the axle elevating mechanism 30, the axle 43 can be lifted along the axial direction by causing the chuck 43 to be gripped by the chuck 31 and driving the elevating mechanism 32 to protrude from the surface of the table 10. .

  The transfer robot 20 includes a hand 21 and an arm 22 that changes the posture of the hand 21 and the position in the three-dimensional space.

FIG. 3 is a side view of the hand 21.
The hand 21 includes a base 23 attached to the tip of an arm 22, a pin 24 that grips a workpiece, a support mechanism 25 that is provided on the base 23 and supports the pin 24 so as to be able to advance and retreat, and a pressing portion 26 that presses the workpiece. And an advancing / retreating mechanism 27 that is provided on the base 23 and moves the pressing portion 26 back and forth.

  The pin 24 is an elongated pin body 241, a head 242 having an outer diameter larger than that of the pin body 241 provided on the proximal end side of the pin body 241, and an extension provided on the distal end side of the pin body 241. Two possible grips 243.

  The support mechanism 25 includes a cylindrical pin holding portion 251 provided in the base portion 23 and through which the pin main body 241 of the pin 24 is inserted, and a spring mechanism 252 interposed between the base portion 23 and the head portion 242 of the pin 24. .

When the pin main body 241 is inserted, the pin holding portion 251 holds the pin 24 so that it can advance and retreat in a state where the axial direction of the pin 24 is substantially perpendicular to the surface of the base portion 23. Further, when the head portion 242 of the pin 24 is locked to the pin holding portion 251, the forward movement of the pin 24 is restricted.
The grip portion 243 can be expanded by driving an actuator (not shown).
The spring mechanism 252 is a string spring and biases the pin 24 in the backward direction.

The pressing portion 26 is formed with an insertion hole 261 through which the pin body 241 of the pin 24 is inserted. Thereby, the tip of the pin 24 can protrude from the pressing portion 26.
The advance / retreat mechanism 27 includes a rod 271 that supports the pressing portion 26, and an actuator 272 that advances and retracts the rod 271.

Next, an operation of inserting the axle 43 through the assembly 40 including the two parts 41 and 42 by the assembling apparatus 1 will be described with reference to FIGS.
First, in ST1, as shown in FIG. 4, the axle 43 is gripped by the chuck 31 of the axle lifting mechanism 30. Further, the transfer robot 20 is controlled so that the parts 41 and 42 are stacked and held by the pins 24 to be assembled.

  In other words, the insertion hole 411 is formed in the component 41, and the insertion hole 421 is formed in the component 42. The component 42 is stacked on the component 41, and the insertion hole 421 of the component 42 is positioned coaxially with the insertion hole 411 of the component 41.

Further, the pressing portion 26 is in contact with the upper surface of the component 42.
The pin 24 protrudes from the pressing portion 26 and is inserted into the insertion holes 411 and 421 of the components 41 and 42. The holding part 243 of the pin 24 is expanded and locked in the insertion holes 411 and 421 of the parts 41 and 42, whereby the stacked parts 41 and 42 are held by the pin 24.

Next, in ST2, as shown in FIG. 5, the advancing / retreating mechanism 27 is driven to advance the pressing portion 26, and the components 41 and 42 are moved downward. Then, since the pin 24 is locked to the components 41 and 42, the pin 24 moves forward while resisting the urging force of the spring mechanism 252 as the components 41 and 42 move.
In this way, the parts 41 and 42 are moved, the parts 41 and 42 are placed on the receiving member 11, the lower part 41 is positioned at a predetermined position, and the parts 41 and 42 are moved by the pressing portion 26. The position of the parts 41 and 42 is fixed by pressing against the receiving member 11. As a result, the axle 43 is positioned coaxially with the insertion holes 411 and 421 of the components 41 and 42.
Thereafter, the axle 43 is advanced toward the pin 24. That is, the axle 43 is raised. Then, the distal end of the axle 43 is inserted into the insertion holes 411 and 421 of the components 41 and 42 and comes into contact with the distal end of the pin 24.

In ST3, as shown in FIG. 6, the gripping of the components 41 and 42 by the pin 24 is released. Then, the pin 24 is raised by the restoring force of the spring mechanism 252.
At the same time, the axle 43 is raised so as to maintain the contact between the axle 43 and the pin 24. That is, according to the rising speed of the pin 24 due to the restoring force of the spring mechanism 252, the lifting speed of the axle 43 is adjusted by the axle lifting mechanism 30, and the axle 43 is lifted at the same speed as the pin 24.

  In ST4, as shown in FIG. 7, the pin 24 returns to the original position, the restoring force of the spring mechanism 252 becomes zero, and the raising of the pin 24 stops. Therefore, the raising of the axle 43 is also stopped. In this state, the tip of the pin 24 is located inside the insertion hole 261 of the pressing portion 26. The axle 43 is inserted through the insertion holes 411 and 421 of the components 41 and 42.

In ST5, as shown in FIG. 8, the hand 21 is raised and the pin 24 is detached from the components 41 and.
In ST6, as shown in FIG. 9, the pressing portion 26 is retracted and brought into contact with the base 23, and the pin 24 is protruded from the pressing portion 26 again.
Thereafter, the axle 43 is fastened with a fastening member (not shown).

According to this embodiment, there are the following effects.
(1) Since the plurality of parts 41 and 42 are assembled and positioned at a predetermined position and the axle 43 is moved, the axle 43 moves on the same axis as the pin 24. It can be inserted into the insertion holes 411 and 421 of 41 and 42, and the working efficiency can be improved.
Moreover, since it becomes a simple structure, an assembly cost can be reduced and the installation space of the assembly apparatus 1 of the assembly 40 can be reduced.

[Second Embodiment]
FIG. 10 is a side view showing a schematic configuration of the hand 21A of the assembling apparatus 1 to which the assembling method of the assembly according to the second embodiment of the present invention is applied. FIG. 11 is a cross-sectional view of the hand 21A.
In the present embodiment, the structure of the hand 21A and the structure of the table 10A are different from those of the first embodiment.

  In other words, in addition to the receiving member 11, the table 10A is provided with a receiving member 12 on which a workpiece is placed and positioned in contact with the side surface of the placed workpiece (see FIG. 15).

The hand 21A includes a collet 31 as two cylindrical pins arranged in a row, a piece 32 as a cylindrical pin arranged between the collets 31, and the collet 31 and the piece 32. And a pressurizing device 33 for pressurizing from both ends.
A force sensor 221 that detects an external force acting on the hand 21 is provided between the hand 21 and the arm 22.

  The two collets 31 are arranged so that their central axes are coaxial, and the pieces 32 are arranged between the collets 31 so that their central axes are coaxial with the collet 31. That is, the collet 31 and the piece 32 are alternately arranged on a straight line.

FIG. 12 is an exploded perspective view of a part of the hand 21A.
In the collet 31, slits 311 extending from the vicinity of one end edge to the other end edge and slits 312 extending from the vicinity of the other end edge to the one end edge are alternately formed.

  The outer diameter of the piece 32 is larger at the center than the inner diameter of the collet 31 and decreases from the center toward both ends, and is smaller than the inner diameter of the collet 31 at both ends. Therefore, both ends of the piece 32 are smaller than the inner diameter of the collet 31, so that both ends of the piece 32 are in the collet 31.

  Referring back to FIGS. 10 and 11, the pressurizing device 33 is inserted into the collet 31 and the piece 32 through the through-hole 341 and the gripping flange 34 supported by the arm 22 and having the through-hole 341 formed therein. A pressure pin 35 as a pin and an actuator 36 provided on the gripping flange 34 to advance and retract the pressure pin 35 are provided.

The gripping flange 34 includes a flat plate 342 and a first pressure unit 343 integrally formed at the center of the plate 342. The first pressurizing unit 343 has a shape in which the piece 32 is halved. That is, the outer diameter of the first pressurizing part 343 is larger on the plate side than the inner diameter of the collet 31 and becomes smaller toward the tip part, and is smaller than the inner diameter of the collet 31 at the tip part.
The above-described through hole 341 is formed so as to penetrate the plate 342 and the first pressure member 343.

A second pressure member 351 having the same shape as the piece 32 is integrally formed at the tip of the pressure pin 35.
The actuator 36 moves the pressure pin 35 forward and backward, and is controlled by the control panel 3 described above.

  According to the pressurizing device 33, the pressurizing pin 35 is retracted, and the first pressurizing unit 343 and the second pressurizing unit 351 press the collet 31 and the piece 32 from both ends.

Next, the operation of the hand 21A will be described.
When the actuator 36 is not operated, both ends of the piece 32 enter the collet 31, but the collet 31 is not expanded because it is not pressurized.

Next, the actuator 36 is operated, and the pressure pin 35 is moved backward by the applied pressure F. Then, the first pressurizing unit 343 and the second pressurizing unit 351 pressurize the collet 31 and the piece 32 with the applied pressure F. This pressure F is transmitted through each collet 31 and each piece 32 and acts equally on all the collets 31 and pieces 32.
For example, the collet 31 positioned at the tip will be described. The pieces 32 and the second pressure members 351 positioned on both sides of the collet 31 advance toward the inside of the collet 31 and approach each other. Then, since the outer diameter of the center part of the piece 32 and the 2nd pressurization part 351 is larger than the internal diameter of the collet 31, the outer peripheral surface of the piece 32 and the 2nd pressurization part 351 is the collet 31 as shown in FIG. Is pressed in the direction of arrow A. As a result, the collet 31 is elastically deformed, and the outer diameter of the collet is expanded in the direction of arrow B as shown in FIG.

  After that, when the pressurization by the pressurizing device 33 is released, the piece 32 and the second pressurizing portion 351 are pressed by the inner wall surface of the collet 31 by the restoring force of the elastic deformation of the collet 31, and the piece 32 and the second 2 While the pressurizing part 351 moves backward toward the outside of the collet 31, the outer diameter of the collet 31 contracts and returns to the outer diameter.

The operation of inserting the axle 43 through the assembly 40 by the hand 21A of the assembling apparatus 1 will be described with reference to FIGS.
First, in ST1, as shown in FIG. 15, the axle 43 is gripped by the chuck 31 of the axle lifting mechanism 30. Further, the transfer robot 20 is controlled so that the parts 41 and 42 are stacked and held by the collet 31 to be assembled.

  In other words, the insertion hole 411 is formed in the component 41, and the insertion hole 421 is formed in the component 42. The component 42 is stacked on the component 41, and the insertion hole 421 of the component 42 is positioned coaxially with the insertion hole 411 of the component 41.

  The collet 31 is inserted into the insertion holes 411 and 421 of the parts 41 and 42, expanded, and locked in the insertion holes 411 and 421 of the parts 41 and 42. Thereby, the stacked components 41 and 42 are held by the hand 21A.

Next, in ST2, as shown in FIG. 16, the hand 21A is controlled to move the components 41 and 42 downward.
In this way, the components 41 and 42 are moved, the components 41 and 42 are seated on the receiving members 11 and 12, and the components 41 and 42 are positioned at predetermined positions. As a result, the axle 43 is positioned coaxially with the insertion holes 411 and 421 of the components 41 and 42.
Specifically, when the parts 41 and 42 are seated on the receiving members 11 and 12, the reaction forces of the receiving members 11 and 12 are applied to the hand 21 </ b> A, and thus the reaction force is detected by the force sensor 221. It is detected that 41 and 42 are placed on the receiving member 11.

  Thereafter, the axle 43 is advanced toward the second pressure part 351 of the pressure pin 35. That is, the axle 43 is raised. Then, the distal end of the axle 43 is inserted into the insertion holes 411 and 421 of the components 41 and 42 and comes into contact with the distal end of the second pressure member 351.

In ST3, as shown in FIG. 17, the gripping of the parts 41 and 42 by the hand 21A is released, the hand 21A is lifted, and the axle 43 is lifted by the axle lifting mechanism 30.
Specifically, the pressing force of the axle 43 is detected by the force sensor 221, and the rising speed of the hand 21A is adjusted so that the detected pressing force is within a predetermined range. In this way, the hand 21A is raised so as to maintain the contact between the axle 43 and the hand 21A.

  In ST4, as shown in FIG. 18, the hand 21A is further raised, and the hand 21A is detached from the components 41 and 42. Thereafter, the axle 43 is fastened with a fastening member (not shown).

  According to the present embodiment, there is an effect similar to the above (1).

It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.
For example, in the present embodiment, the axle 43 is inserted into the insertion holes 411 and 421 of the components 41 and 42 and then tightened with a fastening member. However, this fastening may be performed manually on the same station or a robot. You may go on. Further, the assembly 40 may be transported to another station, and the assembly 40 may be performed manually or by a robot on the other station.

  In the first embodiment, the pin 24 is raised by the restoring force of the spring mechanism 252 or the support mechanism 25A while the height of the hand 21 is maintained. However, the present invention is not limited to this. That is, the pin 24 may be raised by raising the hand 21.

It is a figure which shows schematic structure of the assembly apparatus with which the assembly method of the assembly which concerns on 1st Embodiment of this invention was applied. It is a partial expansion perspective view of the assembly apparatus which concerns on the said embodiment. It is a side view of the hand of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which hold | gripped the assembly of the assembly apparatus which concerns on the said embodiment with the hand. It is sectional drawing which shows the state which positioned the assembly of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which has raised the axle of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which penetrated the axle in the assembly of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which removed the hand from the assembly of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which retracted the press part of the assembly apparatus which concerns on the said embodiment. It is a side view of the hand of the assembly apparatus which concerns on 2nd Embodiment of this invention. It is sectional drawing of the hand which concerns on the said embodiment. It is a disassembled perspective view of a part of the hand according to the embodiment. It is a figure which shows the state which applied the applied pressure about one collet of the hand which concerns on the said embodiment. It is a figure which shows the state expanded about one collet of the hand which concerns on the said embodiment. It is sectional drawing which shows the state which hold | gripped the assembly of the assembly apparatus which concerns on the said embodiment with the hand. It is sectional drawing which shows the state which positioned the assembly of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which has raised the axle of the assembly apparatus which concerns on the said embodiment. It is sectional drawing which shows the state which penetrated the axle in the assembly of the assembly apparatus which concerns on the said embodiment.

Explanation of symbols

24 pin 31 collet (pin)
32 pieces (pin)
35 Pressure pin
40 assembly 41 parts 42 parts 43 axle (shaft)
411 Insertion hole 421 Insertion hole

Claims (1)

A method for assembling an assembly comprising a plurality of parts each having an insertion hole, and a shaft portion inserted through the insertion hole,
Inserting a pin through the insertion holes of the plurality of parts, assembling the plurality of parts, and positioning the plurality of assembled parts at predetermined positions;
A procedure for arranging the shaft portion coaxially with the pin;
A step of advancing the shaft portion toward the pin and bringing the tip of the shaft into contact with the tip of the pin;
A method of assembling the assembly, comprising: a step of further advancing the shaft portion while inserting the shaft portion into the insertion hole while maintaining the state where the shaft portion and the pin are in contact with each other.

Images